How Simscape™ Supports

Innovation for Cyber-Physical

Systems
Rick Hyde

© 2015 The MathWorks, Inc.

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How can we use system-level modelling to
support innovative product design?

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Innovation in electric and hybrid vehicles Electrical
Mechanical
Fluid

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Innovation in robotics

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 Example: Quadruped running robot
Biologically-inspired design (Biomimetics)

▪ Animal terrestrial motion

– Muscles are inefficient (30%)
– Muscles are also the energy store
– Running gait uses kinetic energy recovery
– The leg is well modelled by a linear spring
v

▪ Innovation: Use equivalent inverted pendulum

u
model as basis for robot

x p

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 v

Running robot design example u

Design step #1 – gait selection

y
▪ Fixed parameters x p

– Leg length
– Running speed
– Mass

▪ Design parameters
– Leg (spring) stiffness
– Stance height

▪ Simple point-mass model

– MATLAB script for trade-off

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Running robot design example
Design step #2 – actuator requirements
from inverse dynamics

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 Running robot design example
Design step #3 – actuator selection
Provide
actuation force

Rotary Linear
Hydraulic Chemical electric Electric Pneumatic
motor motor

Hydraulic Hydraulic Artificial

IC engine Brushed Brushless Linear Rotary
motor actuator muscle

Induction Pneumatic Limited travel

DC motor
motor cylinder rotary

Shunt Servo motor Pneumatic

Air muscle
motor (PM rotor) motor

Series wound Variable

motor reluctance

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Running robot design example
Design step #3 – actuator selection

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Running robot design example
Design step #4 – actuation validation

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Running robot design example
Design step #5 – evaluation

Motor efficiency at rated load = 95%

Motor efficiency for trotting gait = 84%

http://www.mathworks.com/matlabcentral/fileexchange/64237-running-robot-model-in-simscape
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Running robot design example
Design step automation using MATLAB scripting

▪ Automation permits greater understanding of design trade-offs

– e.g. see effect of gearbox ratio on efficiency
Gear ratio 80 100 120
Efficiency 84% 81% 78%

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Running robot design example
Key points

1. Multiple models
2. Each model matched to a design task
3. Design data passed between models
4. Automation to support analysis &
optimisation
5. Code generation for HIL testing

Enables product design innovation in a

way that starting with the CAD tool could
never do

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Building the right model for the task at hand can be challenging

Requirements Identification of
not understood required
by project modelling detail
management

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Identify required modelling detail for PMSM drives
1. System-level simulation
– Torque-speed behaviour
– Model motor losses as part of overall Mechanical/
control
efficiency calculation
engineer
– Thermal & fault modelling
Component validation

Modeling detail
2.
– Ensure motor stays within manufacturer
operating limits
– Detailed analysis of impact on other
components e.g. power harmonics
3. Component design
– Motor and/or drive circuitry Motor
– Determine overall actuation losses designer and
– Understand/predict fault behaviour electronics
engineer
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Building the right model for the task at hand can be challenging

Requirements Identification of Limited time

not understood required and nothing to
by project modelling detail build on –
management starting from
scratch

Lacking
domain
knowledge

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Simscape library components provide a useful starting point
and encapsulate some domain knowledge

Modeling detail

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Building the right model for the task at hand can be challenging

Requirements Identification of Limited time

not understood required and nothing to
by project modelling detail build on –
management starting from
scratch

Lacking
No data domain
knowledge

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Modelling a PMSM with limited supplier data
Tune to measurement data

See PMSM parameter identification example in Track 2 at 16:15pm

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Using abstraction to deal with limited data

R2017a/R2017b:
elec_auto_ev.slx

R2016b/R2016a/R2015b:
elec_electric_vehicle.slx

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Multidomain example with fluids

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Building the right model for the task at hand can be challenging

Requirements Identification of Limited time

not understood required and nothing
by project modelling detail to build on –
management starting from
scratch

No data Lacking
domain
knowledge

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Building the right model for the task at hand can be challenging

Requirements Identification of Limited time

not understood required
by project modelling detail
and nothing
management to build on –
starting from
scratch
No data
Lacking
domain
knowledge

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Simscape libraries enable you to build representative models fast

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Creating custom Simscape components
Example: McKibben air muscle

Steps: McKibben air muscle

1. Write out defining
equations
2. Find starting point in
Simscape foundation
library Increase pressure
3. Incrementally add
functionality, testing as
you go

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Creating custom Simscape components
Step 1: Write out equations
𝐿𝑢 = Un-stretched length
𝐿𝑠 = Additional stretch due to force, F

Assumptions: F
▪ Volume is approximately constant p1
▪ Stretch force is proportional to Ls
Lu(p1) Ls

Equations:
▪ 𝐿 = 𝐿𝑢 𝑝 + 𝐿𝑠
p2
▪ 𝐹 = 𝑘 × 𝐿𝑠
▪ 𝑝𝑉 = 𝑛𝑅𝑇 Lu(p2)

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 Creating custom Simscape components
Step 2: Find starting point from foundation library

▪ Has equation of state

▪ Need to add mechanical
ports & equations

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 Creating custom Simscape components
Step 3: Incrementally add functionality

Add:
▪ Two mechanical ports

▪ Two additional new equations

𝐿 = 𝐿𝑢 𝑝 + 𝐿𝑠
𝐹 = 𝑘 × 𝐿𝑠

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 Creating custom Simscape components
Step 3: Incrementally add functionality

Add definitions for:

▪ Variables
▪ Parameters

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Creating custom Simscape components
Step 4: Build library and run test model

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Why use Simscape?

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Why use Simscape?

▪ Plant and control

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Why use Simscape?

▪ Plant and control

▪ Multidomain

– Electrical

– Mechanical

– Thermal

– Fluid

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Why use Simscape?

▪ Plant and control

▪ Multidomain
▪ Code generation and V&V tools
– Test controller on HIL plant
– Deploy to simulator
– Use plant model in real-time controller

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Why use Simscape?

▪ Plant and control

▪ Multidomain
▪ Code generation and V&V tools
▪ Libraries, examples, documentation & webinars

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Why use Simscape?

▪ Plant and control

▪ Multidomain
▪ Code generation and V&V tools
▪ Libraries, examples, documentation & webinars
▪ Simscape language – build custom components

F
p

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Why use Simscape?

▪ Plant and control

▪ Multidomain
▪ Code generation and V&V tools
▪ Libraries, examples, documentation & webinars
▪ Simscape language – build custom components
▪ Workflow
– Tight integration with MathWorks control and optimization tools
– MATLAB for scripting and automation
– Fault-capable components (R, L, C, Servomotor, …)

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Why use Simscape?

▪ Plant and control

▪ Multidomain
▪ Code generation and V&V tools
▪ Libraries, examples, documentation & webinars
▪ Simscape language – build custom components
▪ Workflow
– Tight integration with MathWorks control and optimization tools
– MATLAB for scripting and automation
– Fault-capable components (R, L, C, Servomotor, …)
▪ Support, training, consulting
▪ MATLAB Central

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How to find out more

▪ MathWorks physical modelling page:

– https://www.mathworks.com/solutions/physical-modeling.html

▪ Steve Miller’s introduction video

– https://www.mathworks.com/videos/physical-modeling-introduction-75883.html

▪ MATLAB Central File Exchange

– https://www.mathworks.com/matlabcentral/fileexchange/

▪ Contact us direct

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